3D Annotations
The 3D annotations are a set of 3D bounding boxes in meters that represent the position of the object in the frame in world coordinates. More information can be found regarding the format of the 3D bounding boxes.
Automatic Ground Truth Generation
The 3D annotations are formulated using Radar or LiDAR PCDs that's available in Raivin Platforms by Au-Zone Technologies. The Automatic Ground Truth Generation (AGTG) automatically creates the 3D annotations for the dataset if the PCDs are available in the dataset. For a tutorial to this process, refer to deploying the AGTG pipeline in EdgeFirst Studio.
For modifying 3D annotations in the dataset, follow the steps in the next section.
Manual 3D Annotations
This section describes the steps for adjusting 3D annotations in the dataset.
First navigate to the dataset gallery. Ensure that the LiDAR and/or Radar point clouds, and the 3D bounding box annotations are toggled visible.
Scale 3D Annotation
The error in the current annotation is that the bounding box is not scaled properly. Click on the option on the left sidebar to enable 3D bounding box scaling as indicated in red.
Click on the current 3D bounding box to scale and this will provide anchor points to scale the 3D bounding box in the 3-axis.
Next adjust the scaling of the 3D bounding box in each axis by dragging the anchor points (red, green, blue). The 3D bounding box shown below was adjusted with proper scaling to the LiDAR point clouds of the object.
| Scaled YZ Plane | Scaled XY Plane | Scaled XZ |
|---|---|---|
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However, the translation is still quite off, instructions to fix this issue will be shown in the next section.
Translate 3D Annotation
Next the adjusted 3D bounding box needs to be properly translated. Click on the option on the left sidebar to enable 3D bounding box translation as indicated in red.
Similar to the workflow as scaling the 3D bounding boxes above, move the three anchor points for each axis to translate the bounding box for each axis.
| Translate YZ Plane | Translate XY Plane | Translate XZ |
|---|---|---|
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Once the 3D bounding box annotation is properly oriented, click "Save Annotations" to save the changes.
Add 3D Annotation
To add a missing 3D bounding box, click on the option on the left sidebar to add a new 3D bounding box annotation as indicated in red.
Now click on the grid to add a new 3D bounding box on the position of the click.
This newly added 3D bounding box may not be scaled or translated properly. Follow instructions for scaling and translating a 3D bounding box to properly center the bounding box around the LiDAR point cloud as shown below. Once the annotation is properly scaled and translated, click "Save Annotations" to save the annotation.
Delete 3D Annotation
To delete an annotation, first click on the pointer tool 
. Click on the annotation. This will first highlight the 3D bounding box annotation. To delete the annotation, press the "Delete" key on your keyboard.